State vector estimation using a constraint derived from a map

摘要

It is disclosed to estimate a state vector of an object, wherein the state vector comprises a state variable related to a position or an orientation of the object, based on at least one of a probability density function of the state vector truncated under consideration of a constraint for the state variable, wherein the constraint is derived from a map, and properties of the truncated probability density function.

主权项

1. An apparatus comprising:
at least one processor; and at least one memory including computer program code; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to: estimate a state vector of an object, wherein the state vector comprises a state variable related to a position or an orientation of the object, based on at least one of
a probability density function of the state vector truncated under consideration of a constraint for the state variable derived from a map, andproperties of the truncated probability density function,wherein in the estimation at least two state vector estimates of the object are calculated for one point in time and the first state vector estimate is characterized by a first probability density function, while the second state vector estimate is characterized by a second probability density function, and wherein a first weight is assigned to the first probability density function and a second weight is assigned to the second probability density function.